From afca8985fea437aed443bf895d47ba4fbd26fb87 Mon Sep 17 00:00:00 2001
From: victorlouisdg <victorlouisdg@gmail.com>
Date: Sat, 16 Mar 2024 23:00:34 +0100
Subject: [PATCH] use correct DH parameters for e-series

---
 pyproject.toml                      |  2 +-
 src/ur_analytic_ik/dh_parameters.hh | 12 ++++++------
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index cbcab09..1f364f1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,7 +12,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "ur_analytic_ik"
-version = "0.0.4"
+version = "0.0.5"
 description = "C++ implementation with Python bindings of analytic forward and inverse kinematics for the Universal Robots."
 readme = "README.md"
 requires-python = ">=3.8"
diff --git a/src/ur_analytic_ik/dh_parameters.hh b/src/ur_analytic_ik/dh_parameters.hh
index 8d60e46..f12b23f 100644
--- a/src/ur_analytic_ik/dh_parameters.hh
+++ b/src/ur_analytic_ik/dh_parameters.hh
@@ -9,12 +9,12 @@ const double alpha5 = -M_PI_2;
 #pragma once
 
 namespace ur3e {
-const double d1 = 0.1519;
-const double d4 = 0.11235;
+const double d1 = 0.15185;
+const double d4 = 0.13105;
 const double d5 = 0.08535;
-const double d6 = 0.0819;
-const double a2 = -0.24365;
-const double a3 = -0.21325;
+const double d6 = 0.0921;
+const double a2 = -0.24355;
+const double a3 = -0.2132;
 }  // namespace ur3e
 
 namespace ur5e {
@@ -23,7 +23,7 @@ const double d4 = 0.1333;
 const double d5 = 0.0997;
 const double d6 = 0.0996;
 const double a2 = -0.425;
-const double a3 = -0.39225;
+const double a3 = -0.3922;
 }  // namespace ur5e
 
 namespace ur10e {